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Rogelio Lozano

Bio: Rogelio Lozano is an academic researcher from University of Technology of Compiègne. The author has contributed to research in topics: Control theory & Adaptive control. The author has an hindex of 58, co-authored 496 publications receiving 14570 citations. Previous affiliations of Rogelio Lozano include University of Illinois at Urbana–Champaign & Instituto Politécnico Nacional.


Papers
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Book ChapterDOI
01 Jan 2018
TL;DR: This paper outlines the conception, modeling and control of a rover type modular mini submarine and a control algorithm is implemented based on Lyapunov theory and Backstepping Integral Adaptive (BIA) which stabilizes the vehicle in position and orientation.
Abstract: This paper outlines the conception, modeling and control of a rover type modular mini submarine. The development and implementation of the mechanical structure as well as the embedded electronics is described. The onboard instrumentation and sensors required to collect data on the environment and on its own position and orientation are also described. The mathematical representation to describe the movement of an underwater vehicle is analyzed considering the characteristics and limitations of the underwater robot. Furthermore, a control algorithm is implemented based on Lyapunov theory and Backstepping Integral Adaptive (BIA). This control strategy stabilizes the vehicle in position and orientation. The proposed control algorithm is validated in numerical simulations as well as in experimental tests which confirm the good performance of the prototype and the controller.

9 citations

Proceedings ArticleDOI
28 May 2013
TL;DR: In this article, the vulnerability of light airplanes to wind is analyzed and the effect of such perturbations on airplane performance is incorporated in the equations of motion, which relies on the difference between the predicted motion of the aircraft and the real motion measured by sensors.
Abstract: This paper explores the flight of small fixed-wing Unmanned Aerial Vehicle (UAV) in a non-steady environment. The vulnerability of light airplanes to wind is analyzed and the effect of such perturbations on airplane performance is incorporated in the equations of motion. A straightforward wind computation approach, which relies on the difference between the predicted motion of the aircraft and the real motion measured by sensors, is presented in order to be used for a path following application. The analysis takes into account the effect of the noise in sensors measurements and in estimates of orientation and airspeed components. One approach to reducing noise in wind estimates is proposed based on on-line adaptation techniques. Parameter estimation with minimum-order design is obtained using tuning functions. Simulations are carried out representing real flight scenarios in which the wind field is not constant and the sensor measurements are imperfect.

9 citations

Journal ArticleDOI
01 Jan 2014-Robotica
TL;DR: A vision-based scheme for the autonomous hovering of a miniature quad-rotor with dynamic model using the Newton–Euler approach and an embedded control system based on a separated saturation control strategy are developed.
Abstract: In this paper, a vision-based scheme for the autonomous hovering of a miniature quad-rotor is developed. Cameras are used to estimate the position and the translational velocity of the vehicle. The dynamic model of the miniature quad-rotor is developed using the Newton-Euler approach. A nonlinear controller based on a separated saturation control strategy for a miniature quad-rotor is presented. To validate the theoretical results, an embedded control system for the miniature quad-rotor has been developed. Thus, the analytic results are supported by experimental tests. Experimental results have validated the proposed control strategy.

9 citations

Journal ArticleDOI
Rogelio Lozano, Anand Sanchez, S. Salazar-Cruz, Isabelle Fantoni, J. Torres1 
01 Dec 2006
TL;DR: In this article, the problem of stabilizing n integrators in cascade with bounded input using a discrete-time controller is addressed, and a control algorithm using saturation functions for the case of 3 integrators is presented.
Abstract: This paper deals with the problem of stabilizing n integrators in cascade with bounded input using a discrete-time controller. We propose here a control algorithm using saturation functions for the case of 3 integrators and then we extend the development to the case of n integrators. The control methodology developed is simple and is explicitly given. We present a real-time application of the proposed control algorithm for the stabilization of the orientation of a mini-rotorcraft

9 citations

Proceedings ArticleDOI
02 Jul 2007
TL;DR: In this article, a global stabilization of the well known PVTOL aircraft is presented by using the Lyapunov approach and saturation functions, the control algorithm is arbitrarily bounded Simulations and real-time experiments show the robustness of the controller with respect to aggressive manual disturbances.
Abstract: In this paper we present a global stabilization of the well known PVTOL aircraft The control strategy is obtained by using the Lyapunov approach and saturation functions The control algorithm is arbitrarily bounded Simulations and real-time experiments show the robustness of the controller with respect to aggressive manual disturbances

9 citations


Cited by
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Journal ArticleDOI

[...]

08 Dec 2001-BMJ
TL;DR: There is, I think, something ethereal about i —the square root of minus one, which seems an odd beast at that time—an intruder hovering on the edge of reality.
Abstract: There is, I think, something ethereal about i —the square root of minus one. I remember first hearing about it at school. It seemed an odd beast at that time—an intruder hovering on the edge of reality. Usually familiarity dulls this sense of the bizarre, but in the case of i it was the reverse: over the years the sense of its surreal nature intensified. It seemed that it was impossible to write mathematics that described the real world in …

33,785 citations

Journal ArticleDOI
TL;DR: Some open problems are discussed: the constructive use of the delayed inputs, the digital implementation of distributed delays, the control via the delay, and the handling of information related to the delay value.

3,206 citations

Journal ArticleDOI
Arie Levant1
TL;DR: In this article, the authors proposed arbitrary-order robust exact differentiators with finite-time convergence, which can be used to keep accurate a given constraint and feature theoretically-infinite-frequency switching.
Abstract: Being a motion on a discontinuity set of a dynamic system, sliding mode is used to keep accurately a given constraint and features theoretically-infinite-frequency switching. Standard sliding modes provide for finite-time convergence, precise keeping of the constraint and robustness with respect to internal and external disturbances. Yet the relative degree of the constraint has to be 1 and a dangerous chattering effect is possible. Higher-order sliding modes preserve or generalize the main properties of the standard sliding mode and remove the above restrictions. r-Sliding mode realization provides for up to the rth order of sliding precision with respect to the sampling interval compared with the first order of the standard sliding mode. Such controllers require higher-order real-time derivatives of the outputs to be available. The lacking information is achieved by means of proposed arbitrary-order robust exact differentiators with finite-time convergence. These differentiators feature optimal asymptot...

2,954 citations

01 Nov 1981
TL;DR: In this paper, the authors studied the effect of local derivatives on the detection of intensity edges in images, where the local difference of intensities is computed for each pixel in the image.
Abstract: Most of the signal processing that we will study in this course involves local operations on a signal, namely transforming the signal by applying linear combinations of values in the neighborhood of each sample point. You are familiar with such operations from Calculus, namely, taking derivatives and you are also familiar with this from optics namely blurring a signal. We will be looking at sampled signals only. Let's start with a few basic examples. Local difference Suppose we have a 1D image and we take the local difference of intensities, DI(x) = 1 2 (I(x + 1) − I(x − 1)) which give a discrete approximation to a partial derivative. (We compute this for each x in the image.) What is the effect of such a transformation? One key idea is that such a derivative would be useful for marking positions where the intensity changes. Such a change is called an edge. It is important to detect edges in images because they often mark locations at which object properties change. These can include changes in illumination along a surface due to a shadow boundary, or a material (pigment) change, or a change in depth as when one object ends and another begins. The computational problem of finding intensity edges in images is called edge detection. We could look for positions at which DI(x) has a large negative or positive value. Large positive values indicate an edge that goes from low to high intensity, and large negative values indicate an edge that goes from high to low intensity. Example Suppose the image consists of a single (slightly sloped) edge:

1,829 citations